#ifndef __MPU_H
#define __MPU_H

#define ACC_UPDATE		0x01
#define GYRO_UPDATE		0x02
#define ANGLE_UPDATE	0x04
#define MAG_UPDATE		0x08
#define TEMP_UPDATE     0x10
#define READ_UPDATE		0x80

#include "stm32f10x.h"
#include "wit_c_sdk.h"
#include "USART.h"
#include "systick.h"

void mpu_init(u32 bound);
void poll(float *yaw);

#endif
